I'm not sure, really. I was diagnosed fairly recently, so my parents were always trying to get me to mix with other kids, do certain activities etc as they didn't know any better. The UK is way behind as far as Aspergers goes - my psychotherapist was actually advised by his practice manager not to take me on as a patient when he found out the referral was for Aspergers.
I don't think the NT ways did me any harm.
As a toddler, I rejected affection, rarely displayed emotion and had hysterical meltdowns over things as trivial as shoelaces being uneven. I did not mix with other kids, apart from to snatch toys i wanted off them - if they resisted, I'd beat them up, then play by myself as though nothing had happened. I could be completely non-responsive to external stimuli for minutes at a time, then become extremely destructive when the real world intruded. As it was, my parents were simply told I was a difficult child. Teachers had no clue - I was academically gifted at subjects I enjoyed, and completely indifferent to any subjects that fell outside my sphere of interest.
I'm now pretty high functioning - I've done and been proficient at things that most NTs would fret over, such as business presentations, public speaking and so on. Admittedly I still find some aspects of social interaction a bit tricky, can be overly literal and don't like crowds, but I think that if I'd been able to duck out of some experiences by waving Aspergers as a white flag I'd probably be a less rounded - certainly a more insular - individual.
My parents do admit that now they know about the condition (they are actually very supportive - my mother is actually helping me look into setting up a local Aspie group as there are none in the city) they would have done some things differently, or at least had a better understanding of why I did certain things in certain ways.
Everyone is different, and with such a broad spectrum its not easy generalise over what type of developmental environment would suit.